Following the analysis proposed by the EAT authors [1]}, we test three scenes that correspond to three different difficulty levels (see Figure REF ). The easy level is represented by Home_005_2, where the agent only explores within a kitchen area. The medium difficult scene is represented by Home_001_2, where the agent explores in a living room with an open kitchen. Finally Home_003_2 represents the most difficult scene where the agent explores a large living room with a half-open kitchen and some dining area.
For each scene, the agent's pose graph and the ground-truth (GT) annotations of each target object are provided by AVD, while we prepare the 2D grid map of each scene for the POMCP module. To obtain the occluded cells, we first perform 3D scene reconstruction using Open3D [2]} followed by a z-plane intersection.
